import rospy
from   turtlesim.msg import Pose
def doMsg(msg):
    rate.sleep()
    rospy.loginfo("乌龟x:%fm乌龟y:%f,乌龟角度:%f,乌龟线速度：%f,乌龟角速度:%f",msg.x,msg.y,msg.theta,msg.linear_velocity,msg.angular_velocity)
rospy.init_node("sub_turtle")
sub=rospy.Subscriber("turtle1/pose",Pose,queue_size=10,callback=doMsg)
rate=rospy.Rate(1)

rospy.spin()
